CN106460362B - 工程机械的控制***、工程机械、以及工程机械的控制方法 - Google Patents
工程机械的控制***、工程机械、以及工程机械的控制方法 Download PDFInfo
- Publication number
- CN106460362B CN106460362B CN201680001091.8A CN201680001091A CN106460362B CN 106460362 B CN106460362 B CN 106460362B CN 201680001091 A CN201680001091 A CN 201680001091A CN 106460362 B CN106460362 B CN 106460362B
- Authority
- CN
- China
- Prior art keywords
- scraper bowl
- working rig
- target
- dipper
- swing arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 24
- 238000010276 construction Methods 0.000 claims abstract description 155
- 230000033001 locomotion Effects 0.000 claims description 57
- 238000009412 basement excavation Methods 0.000 claims description 10
- 239000003921 oil Substances 0.000 description 45
- 239000010720 hydraulic oil Substances 0.000 description 23
- 238000010586 diagram Methods 0.000 description 19
- 239000004519 grease Substances 0.000 description 18
- 238000001514 detection method Methods 0.000 description 17
- 230000007935 neutral effect Effects 0.000 description 6
- 230000006399 behavior Effects 0.000 description 5
- 230000006835 compression Effects 0.000 description 5
- 238000007906 compression Methods 0.000 description 5
- 108010066278 cabin-4 Proteins 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000000470 constituent Substances 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 241001269238 Data Species 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000006837 decompression Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241000602850 Cinclidae Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000009430 construction management Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/3604—Devices to connect tools to arms, booms or the like
- E02F3/3677—Devices to connect tools to arms, booms or the like allowing movement, e.g. rotation or translation, of the tool around or along another axis as the movement implied by the boom or arms, e.g. for tilting buckets
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2037—Coordinating the movements of the implement and of the frame
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2271—Actuators and supports therefor and protection therefor
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/16—Cabins, platforms, or the like, for drivers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2016/066078 WO2016186219A1 (ja) | 2016-05-31 | 2016-05-31 | 建設機械の制御システム、建設機械、及び建設機械の制御方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106460362A CN106460362A (zh) | 2017-02-22 |
CN106460362B true CN106460362B (zh) | 2019-11-29 |
Family
ID=57320330
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201680001091.8A Active CN106460362B (zh) | 2016-05-31 | 2016-05-31 | 工程机械的控制***、工程机械、以及工程机械的控制方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10017913B2 (de) |
JP (1) | JP6099834B1 (de) |
KR (1) | KR101839467B1 (de) |
CN (1) | CN106460362B (de) |
DE (1) | DE112016000072B4 (de) |
WO (1) | WO2016186219A1 (de) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6576757B2 (ja) * | 2015-09-17 | 2019-09-18 | 住友重機械工業株式会社 | ショベル |
CN109790698B (zh) * | 2017-09-13 | 2021-04-23 | 日立建机株式会社 | 作业机械 |
JP7155516B2 (ja) * | 2017-12-20 | 2022-10-19 | コベルコ建機株式会社 | 建設機械 |
JP7045926B2 (ja) * | 2018-05-22 | 2022-04-01 | 株式会社小松製作所 | 油圧ショベル、およびシステム |
US10767348B2 (en) * | 2018-07-30 | 2020-09-08 | Deere & Company | Machine stability detection and control |
JP6826234B2 (ja) * | 2018-09-20 | 2021-02-03 | 日立建機株式会社 | 作業機械 |
JP7197392B2 (ja) * | 2019-02-01 | 2022-12-27 | 株式会社小松製作所 | 建設機械の制御システム、建設機械、及び建設機械の制御方法 |
JP6894464B2 (ja) | 2019-04-22 | 2021-06-30 | 株式会社小松製作所 | 作業機械、作業機械の制御方法、施工管理装置および施工管理装置の制御方法 |
JP7402026B2 (ja) * | 2019-11-27 | 2023-12-20 | 株式会社小松製作所 | 作業機械の制御システム、作業機械、作業機械の制御方法 |
JP7396875B2 (ja) * | 2019-11-27 | 2023-12-12 | 株式会社小松製作所 | 作業機械の制御システム、作業機械、および作業機械の制御方法 |
CN113187000B (zh) * | 2020-01-14 | 2022-12-06 | 中联重科股份有限公司 | 工程机械的施工方法、装置、可读存储介质及处理器 |
JP2023050803A (ja) | 2021-09-30 | 2023-04-11 | 株式会社小松製作所 | 作業機械を制御するためのシステムおよび方法 |
JP2023050975A (ja) | 2021-09-30 | 2023-04-11 | 株式会社小松製作所 | 作業機械を制御するためのシステムおよび方法 |
JP2023051363A (ja) | 2021-09-30 | 2023-04-11 | 株式会社小松製作所 | 作業機械を制御するためのシステムおよび方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2010104138A1 (ja) * | 2009-03-12 | 2010-09-16 | 株式会社小松製作所 | 作業機を備えた建設車両 |
CN101946045A (zh) * | 2008-02-20 | 2011-01-12 | 株式会社小松制作所 | 建筑机械 |
CN102341547A (zh) * | 2009-03-06 | 2012-02-01 | 株式会社小松制作所 | 建筑机械、建筑机械的控制方法、以及使计算机执行该方法的程序 |
JP2012172362A (ja) * | 2011-02-21 | 2012-09-10 | Hitachi Constr Mach Co Ltd | 深掘掘削機 |
WO2014054327A1 (ja) * | 2012-10-05 | 2014-04-10 | 株式会社小松製作所 | 掘削機械の表示システム、掘削機械及び掘削機械の表示用コンピュータプログラム |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2004027164A1 (ja) * | 2002-09-17 | 2004-04-01 | Hitachi Construction Machinery Co., Ltd. | 建設機械の掘削作業教示装置 |
GB2413314B (en) * | 2003-09-02 | 2006-07-26 | Komatsu Mfg Co Ltd | Construction target indicator device |
DE112012001013B4 (de) * | 2011-03-24 | 2019-01-03 | Komatsu Ltd. | Aushubsteuersystem und Baumaschine |
KR101729050B1 (ko) | 2013-04-12 | 2017-05-02 | 가부시키가이샤 고마쓰 세이사쿠쇼 | 건설 기계의 제어 시스템 및 제어 방법 |
US9856628B2 (en) | 2014-06-02 | 2018-01-02 | Komatsu Ltd. | Control system for construction machine, construction machine, and method for controlling construction machine |
EP3276089B1 (de) * | 2015-03-27 | 2024-03-13 | Sumitomo (S.H.I.) Construction Machinery Co., Ltd. | Schaufel |
-
2016
- 2016-05-31 JP JP2016544684A patent/JP6099834B1/ja active Active
- 2016-05-31 DE DE112016000072.3T patent/DE112016000072B4/de active Active
- 2016-05-31 CN CN201680001091.8A patent/CN106460362B/zh active Active
- 2016-05-31 KR KR1020177001405A patent/KR101839467B1/ko active IP Right Grant
- 2016-05-31 US US15/326,700 patent/US10017913B2/en active Active
- 2016-05-31 WO PCT/JP2016/066078 patent/WO2016186219A1/ja active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101946045A (zh) * | 2008-02-20 | 2011-01-12 | 株式会社小松制作所 | 建筑机械 |
CN102341547A (zh) * | 2009-03-06 | 2012-02-01 | 株式会社小松制作所 | 建筑机械、建筑机械的控制方法、以及使计算机执行该方法的程序 |
WO2010104138A1 (ja) * | 2009-03-12 | 2010-09-16 | 株式会社小松製作所 | 作業機を備えた建設車両 |
JP2012172362A (ja) * | 2011-02-21 | 2012-09-10 | Hitachi Constr Mach Co Ltd | 深掘掘削機 |
WO2014054327A1 (ja) * | 2012-10-05 | 2014-04-10 | 株式会社小松製作所 | 掘削機械の表示システム、掘削機械及び掘削機械の表示用コンピュータプログラム |
Also Published As
Publication number | Publication date |
---|---|
JPWO2016186219A1 (ja) | 2017-06-08 |
DE112016000072B4 (de) | 2022-01-20 |
KR20170136489A (ko) | 2017-12-11 |
WO2016186219A1 (ja) | 2016-11-24 |
CN106460362A (zh) | 2017-02-22 |
JP6099834B1 (ja) | 2017-03-22 |
US20170342679A1 (en) | 2017-11-30 |
US10017913B2 (en) | 2018-07-10 |
DE112016000072T5 (de) | 2017-03-30 |
KR101839467B1 (ko) | 2018-03-16 |
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